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Plane: add support for RCn_OPTION (servorelay,camera) 

Closes #7071
Closes #7666
This commit is contained in:
Peter Barker 2018-08-03 19:56:58 +10:00
parent 450052aa80
commit 901664ce09
4 changed files with 21 additions and 0 deletions
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6
ArduPlane/ArduPlane.cpp
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@ -90,6 +90,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
#endif #endif
SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins, periodic, 50, 50), SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins, periodic, 50, 50),
SCHED_TASK(avoidance_adsb_update, 10, 100), SCHED_TASK(avoidance_adsb_update, 10, 100),
SCHED_TASK(read_aux_all, 10, 200),
SCHED_TASK_CLASS(AP_Button, &plane.g2.button, update, 5, 100), SCHED_TASK_CLASS(AP_Button, &plane.g2.button, update, 5, 100),
#if STATS_ENABLED == ENABLED #if STATS_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Stats, &plane.g2.stats, update, 1, 100), SCHED_TASK_CLASS(AP_Stats, &plane.g2.stats, update, 1, 100),
@ -130,6 +131,11 @@ void Plane::update_soft_armed()
DataFlash.set_vehicle_armed(hal.util->get_soft_armed()); DataFlash.set_vehicle_armed(hal.util->get_soft_armed());
} }
void Plane::read_aux_all()
{
plane.g2.rc_channels.read_aux_all();
}
// update AHRS system // update AHRS system
void Plane::ahrs_update() void Plane::ahrs_update()
{ {

2
ArduPlane/Plane.h
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@ -1033,6 +1033,8 @@ private:
void update_soaring(); void update_soaring();
#endif #endif
void read_aux_all();
// support for AP_Avoidance custom flight mode, AVOID_ADSB // support for AP_Avoidance custom flight mode, AVOID_ADSB
bool avoid_adsb_init(bool ignore_checks); bool avoid_adsb_init(bool ignore_checks);
void avoid_adsb_run(); void avoid_adsb_run();

11
ArduPlane/RC_Channel.cpp
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@ -15,3 +15,14 @@ int8_t RC_Channels_Plane::flight_mode_channel_number() const
{ {
return plane.g.flight_mode_channel.get(); return plane.g.flight_mode_channel.get();
} }
bool RC_Channels_Plane::has_valid_input() const
{
if (plane.failsafe.rc_failsafe) {
return false;
}
if (plane.failsafe.throttle_counter != 0) {
return false;
}
return true;
}

2
ArduPlane/RC_Channel.h
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@ -25,6 +25,8 @@ public:
return &obj_channels[chan]; return &obj_channels[chan];
} }
bool has_valid_input() const override;
protected: protected:
// note that these callbacks are not presently used on Plane: // note that these callbacks are not presently used on Plane: